ARK Conference - Accepted Paper.pdf (197.75 kB)
A geometric method of singularity avoidance for kinematically redundant planar parallel robots
conference contribution
posted on 2023-06-09, 14:12 authored by Nicholas Baron, Andy PhilippidesAndy Philippides, Nicolas RojasMethods for avoiding singularities of closed-loop robot mechanisms have been traditionally based on the value of the determinant or the condition number of the Jacobian. A major drawback of these standard techniques is that the closeness of a robot configuration to a singularity lacks geometric, physical interpretation, thus implying that it is uncertain how changes in the robot pose actually move further away the mechanism from such a problematic configuration. This paper presents a geometric approach of singularity avoidance for kinematically redundant planar parallel robots that eliminates the disadvantages of Jacobianbased techniques. The proposed method, which is based on the properties of instantaneous centres of rotation, defines a mathematical distance to a singularity and provides a reliable way of moving the robot further from a singular configuration without changing the pose of the end-effector. The approach is demonstrated on an example robot mechanism and the reciprocal of the condition number of the Jacobian is used to show its advantages.
History
Publication status
- Published
File Version
- Accepted version
Journal
Advances in Robot Kinematics 2018Publisher
SpringerExternal DOI
Volume
8Page range
187-194Event name
Advances in Robot Kinematics 2018Event location
Bologna, ItalyEvent type
conferenceEvent date
1 July- 5 July 2018ISBN
9783319931876Series
Springer Proceedings in Advanced RoboticsDepartment affiliated with
- Informatics Publications
Research groups affiliated with
- Centre for Computational Neuroscience and Robotics Publications
Full text available
- Yes
Peer reviewed?
- Yes
Editors
Vincenzo Parenti-Castelli, Jadran LenarcicLegacy Posted Date
2018-07-20First Open Access (FOA) Date
2019-06-23First Compliant Deposit (FCD) Date
2018-07-19Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC